Template Struct LogCholeskyParametersTpl

Struct Documentation

template<typename _Scalar, int _Options>
struct LogCholeskyParametersTpl

A structure representing log Cholesky parameters.

References:

  • Rucker, Caleb, and Patrick M. Wensing. “Smooth parameterization of rigid-body inertia.” IEEE Robotics and Automation Letters 7.2 (2022): 2771-2778.

Public Types

Values:

enumerator Options
typedef _Scalar Scalar
typedef Eigen::Matrix<Scalar, 10, 1, Options> Vector10
typedef Eigen::Matrix<Scalar, 10, 10, Options> Matrix10
typedef PseudoInertiaTpl<Scalar, Options> PseudoInertia

Public Functions

inline explicit LogCholeskyParametersTpl(const Vector10 &log_cholesky)

Constructor for LogCholeskyParametersTpl.

Parameters:

log_cholesky – A 10-dimensional vector of log Cholesky parameters.

inline Vector10 toDynamicParameters() const

Converts the LogCholeskyParametersTpl object to dynamic parameters.

Returns:

A 10-dimensional vector of dynamic parameters.

inline PseudoInertia toPseudoInertia() const

Converts the LogCholeskyParametersTpl object to a PseudoInertiaTpl object.

Returns:

A PseudoInertiaTpl object.

inline InertiaTpl<Scalar, Options> toInertia() const

Converts the LogCholeskyParametersTpl object to an InertiaTpl object.

Returns:

An InertiaTpl object.

inline Matrix10 calculateJacobian() const

Calculates the Jacobian of the log Cholesky parameters.

Returns:

A 10x10 matrix representing the Jacobian.

template<typename NewScalar>
inline LogCholeskyParametersTpl<NewScalar, Options> cast() const
Returns:

An expression of *this with the Scalar type casted to NewScalar.

inline void disp_impl(std::ostream &os) const

Public Members

Vector10 parameters

10-dimensional vector of log Cholesky parameters

Friends

inline friend std::ostream &operator<<(std::ostream &os, const LogCholeskyParametersTpl &lcp)